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Reconstruction Algorithms For Novel Joint Imaging Techniques In Pet, Homayoon Ranjbar
Reconstruction Algorithms For Novel Joint Imaging Techniques In Pet, Homayoon Ranjbar
McKelvey School of Engineering Theses & Dissertations
Positron emission tomography (PET) is an important functional in vivo imaging modality with many clinical applications. Its enormously wide range of applications has made both research and industry combine it with other imaging modalities such as X-ray computed tomography (CT) or magnetic resonance imaging (MRI). The general purpose of this work is to study two cases in PET where the goal is to perform image reconstruction jointly on two data types.
The first case is the Beta-Gamma image reconstruction. Positron emitting isotopes, such as 11C, 13N, and 18F, can be used to label molecules, and tracers, such …
Bio-Inspired Multi-Spectral And Polarization Imaging Sensors For Image-Guided Surgery, Nimrod Missael Garcia
Bio-Inspired Multi-Spectral And Polarization Imaging Sensors For Image-Guided Surgery, Nimrod Missael Garcia
McKelvey School of Engineering Theses & Dissertations
Image-guided surgery (IGS) can enhance cancer treatment by decreasing, and ideally eliminating, positive tumor margins and iatrogenic damage to healthy tissue. Current state-of-the-art near-infrared fluorescence imaging systems are bulky, costly, lack sensitivity under surgical illumination, and lack co-registration accuracy between multimodal images. As a result, an overwhelming majority of physicians still rely on their unaided eyes and palpation as the primary sensing modalities to distinguish cancerous from healthy tissue. In my thesis, I have addressed these challenges in IGC by mimicking the visual systems of several animals to construct low power, compact and highly sensitive multi-spectral and color-polarization sensors. I …
Extrinsic And Intrinsic Control Of Integrative Processes In Neural Systems, Anirban Nandi
Extrinsic And Intrinsic Control Of Integrative Processes In Neural Systems, Anirban Nandi
McKelvey School of Engineering Theses & Dissertations
At the simplest dynamical level, neurons can be understood as integrators. That is, neurons accumulate excitation from afferent neurons until, eventually, a threshold is reached and they produce a spike. Here, we consider the control of integrative processes in neural circuits in two contexts. First, we consider the problem of extrinsic neurocontrol, or modulating the spiking activity of neural circuits using stimulation, as is desired in a wide range of neural engineering applications. From a control-theoretic standpoint, such a problem presents several interesting nuances, including discontinuity in the dynamics due to the spiking process, and the technological limitations associated with …
Development Of A Curriculum Analysis And Simulation Library With Applications In Curricular Analytics, Michael S. Hickman
Development Of A Curriculum Analysis And Simulation Library With Applications In Curricular Analytics, Michael S. Hickman
Electrical and Computer Engineering ETDs
Higher education institutions are currently investing significant resources in attempts to improve student success by improving instruction quality, implementing tutoring programs, and providing other services to help students. While these are all worth- while, one area that tends to be overlooked is the structure of the curricula that are offered. When viewing curricula as data, or more specifically, a graph, it is intuitive to see how its structure can influence a student’s ability to move through it. How- ever, there are currently no tools to analyze a curriculum’s structural properties and how they might affect student success. This thesis describes …
Load Balancing With Energy Storage Systems Based On Co-Simulation Of Multiple Smart Buildings And Distribution Networks, Shaun Duerr, Cristinel Ababei, Dan M. Ionel
Load Balancing With Energy Storage Systems Based On Co-Simulation Of Multiple Smart Buildings And Distribution Networks, Shaun Duerr, Cristinel Ababei, Dan M. Ionel
Electrical and Computer Engineering Faculty Research and Publications
In this paper, we present a co-simulation framework that combines two main simulation tools, one that provides detailed multiple building energy simulation ability with Energy-Plus being the core engine, and the other one that is a distribution level simulator, Matpower. Such a framework can be used to develop and study district level optimization techniques that exploit the interaction between a smart electric grid and buildings as well as the interaction between buildings themselves to achieve energy and cost savings and better energy management beyond what one can achieve through techniques applied at the building level only. We propose a heuristic …
Optimal Decomposition Strategy For Tree Edit Distance, Shaofeng Jiang
Optimal Decomposition Strategy For Tree Edit Distance, Shaofeng Jiang
Electronic Thesis and Dissertation Repository
An ordered labeled tree is a tree where the left-to-right order among siblings is significant. Given two ordered labeled trees, the edit distance between them is the minimum cost edit operations that convert one tree to the other.
In this thesis, we present an algorithm for the tree edit distance problem by using the optimal tree decomposition strategy. By combining the vertical compression of trees with optimal decomposition we can significantly reduce the running time of the algorithm. We compare our method with other methods both theoretically and experimentally. The test results show that our strategies on compressed trees are …
Context-Sensitive Human Activity Classification In Video Utilizing Object Recognition And Motion Estimation, Abigail R. Jacoby
Context-Sensitive Human Activity Classification In Video Utilizing Object Recognition And Motion Estimation, Abigail R. Jacoby
Electrical and Computer Engineering ETDs
Classification of human activity in raw video presents a challenging problem that remains unsolved, and is of great interest for large datasets. Though there have been several attempts at applying image processing techniques to video to recognize human activity in controlled video segments, few have attained a significant degree of success in raw videos.
Raw video classification exhibits significant challenges that can be addressed through the use of geometric information. Current techniques employ a combination of temporal information of the feature space or a combination of Convolutional and Recurrent Neural Networks (CNN and RNNs). CNNs are used for frame feature …
Fifa: Exploring A Focally Induced Fault Attack Strategy In Near-Threshold Computing, Prabal Basu, Chidhambaranathan Rajamanikkam, Aatreyi Bal, Pramesh Pandey, Trevor Carter, Koushik Chakraborty, Sanghamitra Roy
Fifa: Exploring A Focally Induced Fault Attack Strategy In Near-Threshold Computing, Prabal Basu, Chidhambaranathan Rajamanikkam, Aatreyi Bal, Pramesh Pandey, Trevor Carter, Koushik Chakraborty, Sanghamitra Roy
Electrical and Computer Engineering Faculty Publications
In this letter, we explore the emerging security threats of near-threshold computing (NTC). Researchers have shown that the delay sensitivity of a circuit to supply voltage variation tremendously increases, as the circuit's operating conditions shift from traditional super-threshold values to NTC values. As a result, NTC systems become extremely vulnerable to timing fault attacks, jeopardizing trustworthy computing. Inspired by the operation of a polymorphic virus, we propose a novel threat model for NTC, referred to as a focally induced fault attack (FIFA). FIFA employs a machine learning framework to ascertain the circuit vulnerabilities and generates targeted software modules to cause …
Robotic Manipulation Of Environmentally Constrained Objects Using Underactuated Hands, Mahyar Abdeetedal
Robotic Manipulation Of Environmentally Constrained Objects Using Underactuated Hands, Mahyar Abdeetedal
Electronic Thesis and Dissertation Repository
Robotics for agriculture represents the ultimate application of one of our society's latest and most advanced innovations to its most ancient and vital industry. Over the course of history, mechanization and automation have increased crop output several orders of magnitude, enabling a geometric growth in population and an increase in quality of life across the globe. As a challenging step, manipulating objects in harvesting automation is still under investigation in literature. Harvesting or the process of gathering ripe crops can be described as breaking environmentally constrained objects into two or more pieces at the desired locations. In this thesis, the …
A New Single-Phase Single-Stage Ac-Dc Stacked Flyback Converter With Active Clamp Zvs, Yuntong Li
A New Single-Phase Single-Stage Ac-Dc Stacked Flyback Converter With Active Clamp Zvs, Yuntong Li
Electronic Thesis and Dissertation Repository
Single-stage AC-DC converters integrate an AC-DC front-end converter with a DC-DC back-end converter. Compared with conventional two-stage AC-DC converters, single-stage AC-DC converters use less components and only one controller, which is used to regulate the output voltage. As a result, the cost, size and complexity of AC-DC converters can be reduced, but single-stage converters do not perform as well as two-stage converters, and most have drawbacks that are related to the fact that the DC bus voltage is not controlled an can become excessive.
A new single-phase single-stage AC-DC converter that uses stacked flyback converters is proposed in this thesis. …
A Novel Ac-Dc Interleaved Zcs-Pwm Boost Converter, Ramtin Rasoulinezhad
A Novel Ac-Dc Interleaved Zcs-Pwm Boost Converter, Ramtin Rasoulinezhad
Electronic Thesis and Dissertation Repository
AC-DC converters with input power factor correction (PFC) that consist of two or more interleaved boost converter modules are popular in industry. PFC is a must in today’s AC-DC converters as their input current must meet harmonic standards set by regulatory agencies. With interleaving, the input current of each module can make to be discontinuous and the size of their input inductors since interleaving can reduce the high ripple in each module and produce a net input current with a ripple that is comparable to that achieved with a single boost converter module with a large input inductor.
In high- …
Impacts Of Power System-Tied Distributed Generation On The Performance Of Protection Systems, Terver T. Maor
Impacts Of Power System-Tied Distributed Generation On The Performance Of Protection Systems, Terver T. Maor
Electrical Engineering Theses
The dispersed integration of smaller power units in the existing utility grid is the new trend. This is largely due to changes in the power generation and distribution markets. The combination of rising cost of new construction, deregulations and improved newer power equipment technologies suitable for deferred expansions make the new trend very attractive to power companies and independent investors. Until recently, other contributions to power distribution systems from such sources as standby units were considered negligible and therefore unaccounted for during the design and operation of power systems. This view has drastically changed, largely due to the increasing penetration …
Interference Unmixing And Estimation Technique For Improvement Of Speech Separation Performance, Ankur Maurya
Interference Unmixing And Estimation Technique For Improvement Of Speech Separation Performance, Ankur Maurya
Dissertations
Presence of noise in the speech can sometimes become annoying as it can lead to loss of important data or create misunderstandings between the communications area which can lead to major problems associated to loss of time and money. This thesis focuses to filter out noise form a speech signal which is simulated in Matlab/Octave software while making a comparison between temporal resolution of signal with respect to the spectral resolution of the signal in which the parameters such as the size of window length are varied in order to obtain the best speech separation performance. To get the best …
Skills Assessment In Arthroscopic Surgery By Processing Kinematic, Force, And Bio-Signal Data, Behnaz Poursartip
Skills Assessment In Arthroscopic Surgery By Processing Kinematic, Force, And Bio-Signal Data, Behnaz Poursartip
Electronic Thesis and Dissertation Repository
Arthroscopic surgery is a type of Minimally Invasive Surgery (MIS) performed in human joints, which can be used for diagnostic or treatment purposes. The nature of this type of surgery makes it such that surgeons require extensive training to become experts at performing surgical tasks in tight environments and with reduced force feedback. MIS increases the possibility of erroneous actions, which could result in injury to the patient. Many of these injuries can be prevented by implementing appropriate training and skills assessment methods.
Various performance methods, including Global Rating Scales and technical measures, have been proposed in the literature. However, …
Synthesis And Characterization Of Thermoresponsive Hydrogels Based On N-Isopropylacrylamide Crosslinked With 4,4′-Dihydroxybiphenyl Diacrylate, Shuo Tang, Martha Floy, Rohit Bhandari, Manjula Sunkara, Andrew J. Morris, Thomas D. Dziubla, J. Zach Hilt
Synthesis And Characterization Of Thermoresponsive Hydrogels Based On N-Isopropylacrylamide Crosslinked With 4,4′-Dihydroxybiphenyl Diacrylate, Shuo Tang, Martha Floy, Rohit Bhandari, Manjula Sunkara, Andrew J. Morris, Thomas D. Dziubla, J. Zach Hilt
Chemical and Materials Engineering Faculty Publications
A novel crosslinker [4,4′-dihydroxybiphenyl diacrylate (44BDA)] was developed, and a series of temperature-responsive hydrogels were synthesized through free radical polymerization of N-isopropylacrylamide (NIPAAm) with 44BDA. The temperature-responsive behavior of the resulting gels was characterized by swelling studies, and the lower critical solution temperature (LCST) of the hydrogels was characterized through differential scanning calorimetry. Increased content of 44BDA led to a decreased swelling ratio and shifted the LCST to lower temperatures. These novel hydrogels also displayed resiliency through multiple swelling–deswelling cycles, and their temperature responsiveness was reversible. The successful synthesis of NIPAAm-based hydrogels crosslinked with 44BDA has led to a …
Optimal Transfer Point Locations In Two-Stage Distribution Systems, Jeffrey A. Mcdougall, Luis Daniel Otero
Optimal Transfer Point Locations In Two-Stage Distribution Systems, Jeffrey A. Mcdougall, Luis Daniel Otero
Electrical Engineering and Computer Science Faculty Publications
Limited range of emerging delivery vehicles, speci cally unmanned aerial systems, creates gaps in last mile retail distribution networks and excludes signi cant numbers of potential customers. Implementing a two-stage distribution process is one approach that eliminates this de cit. However, dispatchers must load the vehicles hauling orders in the initial stage of the process and assign orders for delivery to transfer points in a way that ensures timely arrival while utilizing only the minimum required resources. This paper investigates the capacitated transfer point covering problem which has, until now, been unstudied. The research proposes a mathematical programming model to …
Universal Signal Conditioning Technique For Fiber Bragg Grating Sensors In Plc And Scada Applications, Gary Allwood, Graham Wild, Steven Hinkley
Universal Signal Conditioning Technique For Fiber Bragg Grating Sensors In Plc And Scada Applications, Gary Allwood, Graham Wild, Steven Hinkley
Research outputs 2014 to 2021
Optical fibre sensors, such as Fibre Bragg Gratings (FBGs), are growing in their utilisation, although very niche in their applications. To enable a more diverse range of end users, expensive application-specific optical fibre interrogation hardware needs to be made compatible with and, ideally, easily incorporated into existing instrumentation and measurement hardware. The Programmable Logic Controller (PLC) is an ideal example of hardware used for data acquisition in many industries. As such, a module that can be connected into an existing PLC slot to collect data from electrically-neutral, EMI-immune and versatile FBG sensors is of significant advantage to the growing optical …
College Of Engineering Senior Design Competition Fall 2017, University Of Nevada, Las Vegas
College Of Engineering Senior Design Competition Fall 2017, University Of Nevada, Las Vegas
Fred and Harriet Cox Senior Design Competition Projects
Part of every UNLV engineering student’s academic experience, the senior design project stimulates engineering innovation and entrepreneurship. Each student in their senior year chooses, plans, designs, and prototypes a product in this required element of the curriculum. A capstone to the student’s educational career, the senior design project encourages the student to use everything learned in the engineering program to create a practical, real world solution to an engineering challenge. The senior design competition helps focus the senior students in increasing the quality and potential for commercial application for their design projects. Judges from local industry evaluate the projects on …
2017 Fall Engr333 Poster (Section B), Eric Ball, Mitchell Debruin, Raymond Kolocek, Edwin Kpodzro, Jacob Vandekieft, Nate Anderson, Brennan Steenhoek, Darbi Meyer, Derek Vermerris, Jessica Bouma, Devon Loerop, Reuben Saarloos, Richard Amoh, Matthew Boelens, Tyson Butler, Laura Van Winkle, Alex Keizer, Kwame Ohemeng, Cameron Richman, Julie Van De Riet
2017 Fall Engr333 Poster (Section B), Eric Ball, Mitchell Debruin, Raymond Kolocek, Edwin Kpodzro, Jacob Vandekieft, Nate Anderson, Brennan Steenhoek, Darbi Meyer, Derek Vermerris, Jessica Bouma, Devon Loerop, Reuben Saarloos, Richard Amoh, Matthew Boelens, Tyson Butler, Laura Van Winkle, Alex Keizer, Kwame Ohemeng, Cameron Richman, Julie Van De Riet
ENGR 333
Previously, Calvin College had a cogeneration system with the purpose of generating electricity and heat, through the combustion of natural gas, for Calvin’s campus. The original co-gen system was removed in 2017 due to high costs associated with maintenance and operations. Without a co-gen system, Calvin College is fully dependent on the grid. To save money and help in the President’s Carbon Commitment, PCC, the mechanical engineering students of ENGR 333 (section B) propose the implementation of a new co-gen system.
2017 Fall Engr333 Seminar Preservation, Trevor Nyeholt, Erik Karlson, Cam Richman, Tyson Butler
2017 Fall Engr333 Seminar Preservation, Trevor Nyeholt, Erik Karlson, Cam Richman, Tyson Butler
ENGR 333
File for student presentation, given by students in the Fall 2017 class of ENGR333.
2017 Fall Engr333 Poster (Section A), Trevor Nyeholt, Francis Kapesa, Justin Thalmayer, Erik Karlson, Kyle Van Veen, Kirk Brink, Steven Tarske, Brent Homan, Nathan De Haan, Paul Bootsma, Megan Anders, Philip Holmes, Melanie Fox, Noah Pirrotta, Abigail Berkompas, Ben Wellman, Halley Press, Christopher Greaves, Josh Templeman, Tim Bosch, Jake Zandstra, Hendrik Vermeulen
2017 Fall Engr333 Poster (Section A), Trevor Nyeholt, Francis Kapesa, Justin Thalmayer, Erik Karlson, Kyle Van Veen, Kirk Brink, Steven Tarske, Brent Homan, Nathan De Haan, Paul Bootsma, Megan Anders, Philip Holmes, Melanie Fox, Noah Pirrotta, Abigail Berkompas, Ben Wellman, Halley Press, Christopher Greaves, Josh Templeman, Tim Bosch, Jake Zandstra, Hendrik Vermeulen
ENGR 333
Calvin College uses 161,000 MMBTU of natural gas per year, which correlates to $836,000 of annual expenses. However Calvin could save as much as $240,000 on natural gas if they were as efficient as the top performer in an energy audit of similar colleges and universities in the Midwest, conducted by Sightlines Institute. The goal of this project was to see what actions could be taken to save the college $75,000 in annual natural gas costs.
Application Of Real Field Connected Vehicle Data For Aggressive Driving Identification On Horizontal Curves, Arash Jahangiri, Vincent Berardi, Sahar Ghanipoor Machiani
Application Of Real Field Connected Vehicle Data For Aggressive Driving Identification On Horizontal Curves, Arash Jahangiri, Vincent Berardi, Sahar Ghanipoor Machiani
Psychology Faculty Articles and Research
The emerging technology of connected vehicles generates a vast amount of data that could be used to enhance roadway safety. In this paper, we focused on safety applications of a real field connected vehicle data on a horizontal curve. The database contains connected vehicle data that were collected on public roads in Ann Arbor, Michigan with instrumented vehicles. Horizontal curve negotiations are associated with a great number of accidents, which are mainly attributed to driving errors. Aggressive/risky driving is a contributing factor to the high rate of crashes on horizontal curves. Using basic safety message data in connected vehicle data …
Technology Planning For Aligning Emerging Business Models And Regulatory Structures: The Case Of Electric Vehicle Charging And The Smart Grid, Kelly R. Cowan
Technology Planning For Aligning Emerging Business Models And Regulatory Structures: The Case Of Electric Vehicle Charging And The Smart Grid, Kelly R. Cowan
Dissertations and Theses
Smart grid has been described as the Energy Internet: Where Energy Technology meets Information Technology. The incorporation of such technology into vast existing utility infrastructures offers many advantages, including possibilities for new smart appliances, energy management systems, better integration of renewable energy, value added services, and new business models, both for supply- and demand-side management. Smart grid also replaces aging utility technologies that are becoming increasingly unreliable, as the average ages for many critical components in utility systems now exceed their original design lives. However, while smart grid offers the promise of revolutionizing utility delivery systems, many questions remain about …
A Comparison Between Different Snubbers For Flyback Converters, Adel Alganidi
A Comparison Between Different Snubbers For Flyback Converters, Adel Alganidi
Electronic Thesis and Dissertation Repository
The DC-DC flyback power converter is widely used in low power commercial and industrial applications ( > 150 W) such as in computers, telecom, consumer electronics because it is one of the simplest and least expensive converter topologies with transformer isolation. Its main power circuit consists of just a semiconductor device like a MOSFET operating as a switch, a transformer, an output diode and an output filter capacitor. The converter switch, however, is susceptible to high voltage spikes due to the interaction between its output capacitance and the leakage inductance of the transformer. These spikes can exceed the ratings of the …
Surface Enhanced Raman Scattering (Sers) Substrates And Probes, Srismrita Basu
Surface Enhanced Raman Scattering (Sers) Substrates And Probes, Srismrita Basu
LSU Doctoral Dissertations
Raman spectroscopy is a well-known technique for complex molecular detection. In Raman spectrometry, laser beam is focused on a sample to generate a unique "fingerprint" of the molecule. The Raman signal is very weak. To overcome this problem nano rough metallic substrates are fabricated to enhance the signal strength. In clinical applications, remote contact and minimally invasive probes inside the specimen are needed.
This research work is divided in: (1) development of Surface Enhanced Raman Scattering (SERS) substrate using gold coated etched aluminum foil, (2) development of the SERS probe using the aluminum based substrate with a single optical fiber …
Rfid Tags For On- And Off-Metal Applications, Ramiro Augusto Ramirez, Thomas Mccrea Weller, Eduardo Antonio Rojas
Rfid Tags For On- And Off-Metal Applications, Ramiro Augusto Ramirez, Thomas Mccrea Weller, Eduardo Antonio Rojas
Publications
In one embodiment, a radio-frequency identification (RFID) tag including a substrate having a top surface, bottom surface, opposed end surfaces, and opposed lateral surfaces, a passive RFID integrated circuit (IC) chip mounted to the top surface of the substrate, a monopole antenna that includes a planar radiating arm that extends out from the RFID IC chip along the top surface of the substrate and a matching loop having two grounded matching stubs that surround the chip and a portion of the radiating arm, and a ground plane formed on the bottom surface, an end surface, and the top surface of …
Physics Based Approach For Seafloor Classification, Phu Duy Nguyen
Physics Based Approach For Seafloor Classification, Phu Duy Nguyen
Dissertations and Theses
The seafloor properties are of high importance for many applications such as marine biology, oil and gas exploration, laying cables, dredging operations and off-shore construction. Several approaches exist to classify the properties of the seabed. These include taking direct samples of the seabed (e.g., coring), however, these methods are costly and slow. Underwater acoustic remote sensing techniques are of interest because they are lower cost and faster. The information about the seabed properties can be extracted by studying the energy of single beam echo sounders (SBES). This can be done by either phenomenological or numerical methods [1], [2]. This research …
Experimental Study Of The Chimney Height Variation Against Double Pots Biomass Stove Performance, Faisal Faisal, Adi Setiawan, Wusnah Wusnah, Khairil Khairil, Luthfi Luthfi, Mona Fajriana
Experimental Study Of The Chimney Height Variation Against Double Pots Biomass Stove Performance, Faisal Faisal, Adi Setiawan, Wusnah Wusnah, Khairil Khairil, Luthfi Luthfi, Mona Fajriana
Makara Journal of Technology
This research aims to get optimal chimneys height of double pots biomass stove. Optimal chimneys height needs to provide best performance of the stove. Experimental study was done by varied the chimney heights. Water boiling test as the standard method was used to obtained stove performance for each chimney height variation. The results showed that best performance stove was the one with 1.65 cm chimney height, with thermal efficiency at 37.66%.
Assessment On Heck-Immine Derivatives As Organic Semiconductor Materials, Rafizah Rahamathullah, Lim Keemi, Wan M. Khairul
Assessment On Heck-Immine Derivatives As Organic Semiconductor Materials, Rafizah Rahamathullah, Lim Keemi, Wan M. Khairul
Makara Journal of Technology
This paper reports the synthetic, characterization and theoretical evaluation of new class of hybrid Heck-immine system involving mixed moieties of vinylene (C=C) and azomethines (CH=N) which has been successfully integrated into an addition of organic semiconducting materials. The assessment of 4-[(hexyloxyphenyl)methylene]amino)-4’-chloro-stilbene (HEXCS) based on Donor (D)-π-Acceptor (A) was evaluated as active semiconductor material candidates via several spectroscopic and analytical techniques. In turn, the investigation of its potential as dopant system in conductive film was successfully deposited on indium tin oxide (ITO) coated substrate via spin coating method. The relationship between electronic and optical properties, chemical modelling at molecular interactions and …
Experimental Study On Automatic Control For Collision Avoidance Of Ships, Daeng Paroka, Muhammad Fahmi Kamil, Andi Haris Muhammad
Experimental Study On Automatic Control For Collision Avoidance Of Ships, Daeng Paroka, Muhammad Fahmi Kamil, Andi Haris Muhammad
Makara Journal of Technology
Automatic control system is widely applied to control the ship direction or heading angle in accordance with the decided trajectory. Several methods for improving performance of control system have been developed such as Proportional-Integral-Derivative (PID) control and fuzzy logic based control. Within the last decade, application of automatic control system is not only for ship navigation but also for avoiding collision risk of ships in seaways. This paper discusses the application of automatic control system for avoiding ship collision by free running experiment. Fuzzy logic based control was developed using Mamdani Centroid method to estimate the necessary rudder angle in …